RecastArea.cpp File Reference

#include "CoreMinimal.h"
#include "Recast/Recast.h"
#include "Recast/RecastAlloc.h"
#include "Recast/RecastAssert.h"

Macros
#define	_USE_MATH_DEFINES

Functions
bool	rcErodeWalkableArea (rcContext *ctx, int radius, rcCompactHeightfield &chf)
void	SeedWalkableAreasErode (int w, int h, int lowSpanHeight, int lowSpanSeed, const rcCompactHeightfield &chf, unsigned char *dist, unsigned char *seed)
void	SeedWalkableAreasErodeFiltered (int w, int h, int lowSpanHeight, int lowSpanSeed, const rcCompactHeightfield &chf, unsigned char *dist, unsigned char *seed)
void	FilterLowHeightSpans (int w, int h, int lowSpanHeight, unsigned char areaId, const rcCompactHeightfield &chf)
bool	rcErodeWalkableAndLowAreas (rcContext *ctx, int radius, unsigned int height, unsigned char areaId, unsigned char filterFlags, rcCompactHeightfield &chf)
bool	rcMedianFilterWalkableArea (rcContext *ctx, rcCompactHeightfield &chf)
bool	rcMarkLowAreas (rcContext *ctx, unsigned int height, unsigned char areaId, rcCompactHeightfield &chf)
void	rcMarkBoxArea (rcContext *ctx, const rcReal *bmin, const rcReal *bmax, unsigned char areaId, rcCompactHeightfield &chf)
void	rcMarkConvexPolyArea (rcContext *ctx, const rcReal *verts, const int nverts, const rcReal hmin, const rcReal hmax, unsigned char areaId, rcCompactHeightfield &chf)
int	rcOffsetPoly (const rcReal *verts, const int nverts, const rcReal offset, rcReal *outVerts, const int maxOutVerts)
void	rcMarkCylinderArea (rcContext *ctx, const rcReal *pos, const rcReal r, const rcReal h, unsigned char areaId, rcCompactHeightfield &chf)
void	rcReplaceBoxArea (rcContext *ctx, const rcReal *bmin, const rcReal *bmax, unsigned char areaId, unsigned char filterAreaId, rcCompactHeightfield &chf)
void	rcReplaceConvexPolyArea (rcContext *ctx, const rcReal *verts, const int nverts, const rcReal hmin, const rcReal hmax, unsigned char areaId, unsigned char filterAreaId, rcCompactHeightfield &chf)
void	rcReplaceCylinderArea (rcContext *ctx, const rcReal *pos, const rcReal r, const rcReal h, unsigned char areaId, unsigned char filterAreaId, rcCompactHeightfield &chf)

Macro Definition Documentation

_USE_MATH_DEFINES

#define _USE_MATH_DEFINES

Function Documentation

FilterLowHeightSpans()

void FilterLowHeightSpans	(	int	w,
		int	h,
		int	lowSpanHeight,
		unsigned char	areaId,
		const rcCompactHeightfield &	chf
	)

rcErodeWalkableAndLowAreas()

bool rcErodeWalkableAndLowAreas	(	rcContext *	ctx,
		int	radius,
		unsigned int	height,
		unsigned char	areaId,
		unsigned char	filterFlags,
		rcCompactHeightfield &	chf
	)

Basically, any spans that are closer to a boundary or obstruction than the specified radius are marked as unwalkable.

This method is usually called immediately after the heightfield has been built.

See also

rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius

rcErodeWalkableArea()

bool rcErodeWalkableArea	(	rcContext *	ctx,
		int	radius,
		rcCompactHeightfield &	chf
	)

Basically, any spans that are closer to a boundary or obstruction than the specified radius are marked as unwalkable.

This method is usually called immediately after the heightfield has been built.

See also

rcCompactHeightfield, rcBuildCompactHeightfield, rcConfig::walkableRadius

rcMarkBoxArea()

void rcMarkBoxArea	(	rcContext *	ctx,
		const rcReal *	bmin,
		const rcReal *	bmax,
		unsigned char	areaId,
		rcCompactHeightfield &	chf
	)

The value of spacial parameters are in world units.

See also

rcCompactHeightfield, rcMedianFilterWalkableArea

rcMarkConvexPolyArea()

void rcMarkConvexPolyArea	(	rcContext *	ctx,
		const rcReal *	verts,
		const int	nverts,
		const rcReal	hmin,
		const rcReal	hmax,
		unsigned char	areaId,
		rcCompactHeightfield &	chf
	)

The value of spacial parameters are in world units.

The y-values of the polygon vertices are ignored. So the polygon is effectively projected onto the xz-plane at hmin, then extruded to hmax.

See also

rcCompactHeightfield, rcMedianFilterWalkableArea

rcMarkCylinderArea()

void rcMarkCylinderArea	(	rcContext *	ctx,
		const rcReal *	pos,
		const rcReal	r,
		const rcReal	h,
		unsigned char	areaId,
		rcCompactHeightfield &	chf
	)

The value of spacial parameters are in world units.

See also

rcCompactHeightfield, rcMedianFilterWalkableArea

rcMarkLowAreas()

bool rcMarkLowAreas	(	rcContext *	ctx,
		unsigned int	height,
		unsigned char	areaId,
		rcCompactHeightfield &	chf
	)

Marks all spans that have insufficient free space above

Parameters

[in,out]	ctx	The build context to use during the operation.
[in,out]	chf	A populated compact heightfield.
[in]	height	Height threshold [Units: vx]
[in]	areaId	The area id to apply [Limit: <= @RC_WALKABLE_AREA]

Returns

True if the operation completed successfully.

rcMedianFilterWalkableArea()

bool rcMedianFilterWalkableArea	(	rcContext *	ctx,
		rcCompactHeightfield &	chf
	)

This filter is usually applied after applying area id's using functions such as rcMarkBoxArea, rcMarkConvexPolyArea, and rcMarkCylinderArea.

See also

rcCompactHeightfield

rcOffsetPoly()

int rcOffsetPoly	(	const rcReal *	verts,
		const int	nverts,
		const rcReal	offset,
		rcReal *	outVerts,
		const int	maxOutVerts
	)

Helper function to offset voncex polygons for rcMarkConvexPolyArea.

Parameters

[in]	verts	The vertices of the polygon [Form: (x, y, z) * nverts]
[in]	nverts	The number of vertices in the polygon.
[out]	outVerts	The offset vertices (should hold up to 2 * nverts) [Form: (x, y, z) * return value]
[in]	maxOutVerts	The max number of vertices that can be stored to outVerts.

Returns

Number of vertices in the offset polygon or 0 if too few vertices in outVerts.

rcReplaceBoxArea()

void rcReplaceBoxArea	(	rcContext *	ctx,
		const rcReal *	bmin,
		const rcReal *	bmax,
		unsigned char	areaId,
		unsigned char	filterAreaId,
		rcCompactHeightfield &	chf
	)

The value of spacial parameters are in world units.

See also

rcCompactHeightfield, rcMedianFilterWalkableArea

rcReplaceConvexPolyArea()

void rcReplaceConvexPolyArea	(	rcContext *	ctx,
		const rcReal *	verts,
		const int	nverts,
		const rcReal	hmin,
		const rcReal	hmax,
		unsigned char	areaId,
		unsigned char	filterAreaId,
		rcCompactHeightfield &	chf
	)

The value of spacial parameters are in world units.

The y-values of the polygon vertices are ignored. So the polygon is effectively projected onto the xz-plane at hmin, then extruded to hmax.

See also

rcCompactHeightfield, rcMedianFilterWalkableArea

rcReplaceCylinderArea()

void rcReplaceCylinderArea	(	rcContext *	ctx,
		const rcReal *	pos,
		const rcReal	r,
		const rcReal	h,
		unsigned char	areaId,
		unsigned char	filterAreaId,
		rcCompactHeightfield &	chf
	)

The value of spacial parameters are in world units.

See also

rcCompactHeightfield, rcMedianFilterWalkableArea

SeedWalkableAreasErode()

void SeedWalkableAreasErode	(	int	w,
		int	h,
		int	lowSpanHeight,
		int	lowSpanSeed,
		const rcCompactHeightfield &	chf,
		unsigned char *	dist,
		unsigned char *	seed
	)

SeedWalkableAreasErodeFiltered()

void SeedWalkableAreasErodeFiltered	(	int	w,
		int	h,
		int	lowSpanHeight,
		int	lowSpanSeed,
		const rcCompactHeightfield &	chf,
		unsigned char *	dist,
		unsigned char *	seed
	)